摘要： 超声波电机独特的运行机理，使其具有较强的非线性及时变特征，不易得到良好的转速控制性能。本文采用模糊逻辑设计了超声波电机转速控制器，给出一种根据转速误差在线调节比例因子的方法，使所设计控制器更适合于超声波电机的转速控制。多种情况下的实验表明，控制效果较好，鲁棒性较强。

关键词：超声波电机；转速控制；模糊逻辑；比例因子
Abstract: Ultrasonic motor is not easy to get good speed control performance, which has stronger nonlinear and time-varing characteristics because of the special running mechanism of itself. This paper designed a speed controller of ultrasonic motor using fuzzy logic, and proposed a method which can adjust the scaling factor online according to the error of speed and make the designed controller even more suitable for the speed control of ultrasonic motor. The majority of experimental results confirm the better control effect and stronger robustness of the controller.

Key words: ultrasonic motor；speed control；fuzzy logic；scaling factor